A robotic manipulation planning system, including at least one processor; and a non-transitory computer-readable storage medium including instructions that, when executed by the at least one processor, cause the at least one processor to: process perception data to detect known, familiar, and unknown objects to generate manipulation candidates; filter manipulation candidates against constraints to reduce the manipulation candidates; and determine quality metrics for the reduced manipulation candidates using a soft-body simulation technique.
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3. The robotic manipulation planning system of claim 2, wherein time integration of a state of each of the sigma points is independent and in parallel.
4. The robotic manipulation planning system of claim 1, wherein the elastoplastic deformation penalty term is based on plastic and elastic deformations of the object model weighted by respective scaling factors.
5. The robotic manipulation planning system of claim 1, wherein the elastoplastic deformation penalty term factors in uncertainty in the simulated manipulation action.
9. The robotic manipulation planning system of claim 8, wherein the constraint check comprises a plurality of sequentially-performed constraint checks.
11. The robotic manipulation planning system of claim 1, wherein the object material parameters comprise density, plasticity, or relate to material phase transitioning.
12. The robotic manipulation planning system of claim 1, wherein if the random variables potentially have both positive and negative values, the probability density function is a normal distribution, and if the random variable have non-negative values only, the probability density function is a gamma distribution.
15. The non-transitory computer-readable storage medium of claim 14, wherein time integration of a state of each of the sigma points is independent and in parallel or in sequence.
16. The non-transitory computer-readable storage medium of claim 13, wherein the elastoplastic deformation penalty term is based on plastic and elastic deformations of the object model weighted by respective scaling factors.
17. The non-transitory computer-readable storage medium of claim 13, wherein the elastoplastic deformation penalty term factors in uncertainty in the simulated manipulation action.
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December 23, 2020
December 10, 2024
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